| 摘要 |
<p>The end of a robot arm includes two links, a first or inner link (16) supported rotatably about a central axis and an end link (120) at which a tool is carried. Located between the links are a rod (22) and a tube (24) whose longitudinal axes are concentric. Each of four gimbal rings (36,38,40,42) is used as a member of a universal joint that connects the links (16, 20), the rod (22) and the tube (24). The links (16,18) are connected by two universal joints in series, and the rod (22) connects these joints. The links (16,18) are also connected by two other universal joints in series and the tube (24) connects this second pair of joints. The first and second pairs of universal joints connected in series are connected to one another in parallel. Gimbal rings (36. 38, 40,42) rotatably supporled on the tube (24) and on the links (16, 20) for angular movement about yaw axis provide ratational support for the (16, 20) and the connecting rod (22) about the pitch axis.</p> |
